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Datasets:
mathieutk
/
so100_gobc

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
11.2
frame_index
int64
0
335
episode_index
int64
0
11
index
int64
0
3.24k
task_index
int64
0
0
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[ 20.0390625, 80.947265625, 110.478515625, 49.921875, -13.974609375, 17.298187255859375 ]
2.433333
73
0
73
0
[ 20.390625, 77.87109375, 109.51171875, 46.845703125, -14.4140625, 0.09267840534448624 ]
[ 20.0390625, 79.716796875, 110.478515625, 49.21875, -13.974609375, 13.75617790222168 ]
2.466667
74
0
74
0
[ 20.21484375, 77.6953125, 109.248046875, 46.669921875, -14.4140625, 0.09267840534448624 ]
[ 20.0390625, 78.75, 110.478515625, 48.076171875, -14.0625, 9.637561798095703 ]
2.5
75
0
75
0
[ 19.951171875, 77.783203125, 109.16015625, 46.669921875, -14.4140625, 0 ]
[ 20.0390625, 77.958984375, 110.302734375, 47.548828125, -14.150390625, 6.09555196762085 ]
2.533333
76
0
76
0
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[ 20.0390625, 77.6953125, 110.302734375, 47.548828125, -14.150390625, 3.953871488571167 ]
2.566667
77
0
77
0
[ 19.16015625, 79.1015625, 108.896484375, 46.7578125, -14.4140625, 0 ]
[ 20.0390625, 77.6953125, 110.302734375, 47.4609375, -14.150390625, 2.553541898727417 ]
2.6
78
0
78
0
[ 18.984375, 80.244140625, 108.80859375, 47.021484375, -14.326171875, 0 ]
[ 19.951171875, 77.6953125, 110.302734375, 46.93359375, -14.150390625, 1.8945634365081787 ]
2.633333
79
0
79
0
[ 18.720703125, 81.650390625, 108.80859375, 47.4609375, -14.0625, 0 ]
[ 19.775390625, 77.6953125, 110.302734375, 46.7578125, -14.150390625, 1.4003294706344604 ]
2.666667
80
0
80
0
[ 18.45703125, 82.96875, 108.544921875, 48.251953125, -13.88671875, 0 ]
[ 19.248046875, 77.783203125, 110.302734375, 46.93359375, -14.150390625, 1.0708402395248413 ]
2.7
81
0
81
0
[ 18.193359375, 83.935546875, 107.841796875, 49.5703125, -13.798828125, 0 ]
[ 18.896484375, 78.046875, 110.302734375, 47.021484375, -14.150390625, 0.8237232565879822 ]
2.733333
82
0
82
0
[ 17.841796875, 84.814453125, 106.875, 51.15234375, -13.7109375, 0 ]
[ 18.720703125, 78.662109375, 110.21484375, 47.63671875, -14.150390625, 0.7413508892059326 ]
2.766667
83
0
83
0
[ 17.490234375, 85.78125, 105.732421875, 52.646484375, -13.447265625, 0 ]
[ 18.720703125, 79.541015625, 109.6875, 48.779296875, -14.150390625, 0.7413508892059326 ]
2.8
84
0
84
0
[ 16.875, 87.451171875, 104.150390625, 54.755859375, -13.0078125, 0 ]
[ 18.369140625, 80.68359375, 108.6328125, 50.537109375, -13.974609375, 0.6589785814285278 ]
2.833333
85
0
85
0
[ 16.259765625, 88.857421875, 102.83203125, 56.337890625, -12.48046875, 0 ]
[ 17.841796875, 81.474609375, 107.841796875, 51.416015625, -13.798828125, 0.576606273651123 ]
2.866667
86
0
86
0
[ 15.556640625, 90.52734375, 101.42578125, 58.095703125, -11.953125, 0 ]
[ 17.138671875, 82.44140625, 106.875, 52.20703125, -13.447265625, 0.576606273651123 ]
2.9
87
0
87
0
[ 14.677734375, 92.373046875, 99.84375, 59.94140625, -11.25, 0 ]
[ 16.69921875, 83.671875, 105.8203125, 54.140625, -13.095703125, 0.576606273651123 ]
2.933333
88
0
88
0
[ 13.53515625, 94.306640625, 98.349609375, 61.787109375, -10.634765625, 0 ]
[ 16.083984375, 85.078125, 104.4140625, 56.337890625, -12.568359375, 0.576606273651123 ]
2.966667
89
0
89
0
[ 12.216796875, 96.240234375, 96.943359375, 63.720703125, -10.01953125, 0 ]
[ 15.556640625, 86.748046875, 103.095703125, 57.3046875, -11.953125, 0.576606273651123 ]
3
90
0
90
0
[ 10.634765625, 98.173828125, 95.537109375, 65.56640625, -9.228515625, 0 ]
[ 14.853515625, 88.505859375, 101.77734375, 59.150390625, -11.42578125, 0.576606273651123 ]
3.033333
91
0
91
0
[ 8.701171875, 100.01953125, 93.955078125, 67.412109375, -8.349609375, 0 ]
[ 13.798828125, 90.3515625, 100.1953125, 61.5234375, -10.810546875, 0.576606273651123 ]
3.066667
92
0
92
0
[ 6.591796875, 101.42578125, 92.197265625, 69.169921875, -7.3828125, 0 ]
[ 12.48046875, 92.28515625, 98.876953125, 63.10546875, -10.107421875, 0.576606273651123 ]
3.1
93
0
93
0
[ 4.21875, 102.392578125, 89.912109375, 71.19140625, -6.328125, 0 ]
[ 10.986328125, 94.21875, 97.470703125, 64.951171875, -9.31640625, 0.576606273651123 ]
3.133333
94
0
94
0
[ 1.7578125, 102.83203125, 87.36328125, 73.4765625, -5.44921875, 0 ]
[ 9.052734375, 96.064453125, 95.712890625, 66.796875, -8.4375, 0.4942339360713959 ]
3.166667
95
0
95
0
[ -0.87890625, 103.095703125, 84.814453125, 75.41015625, -4.658203125, 0 ]
[ 6.943359375, 97.294921875, 93.515625, 68.642578125, -7.470703125, 0.4942339360713959 ]
3.2
96
0
96
0
[ -3.427734375, 103.18359375, 82.44140625, 76.81640625, -3.69140625, 0 ]
[ 5.009765625, 98.26171875, 91.40625, 70.400390625, -6.6796875, 0.4942339360713959 ]
3.233333
97
0
97
0
[ -6.328125, 103.095703125, 80.419921875, 77.958984375, -3.1640625, 0 ]
[ 2.63671875, 99.052734375, 88.9453125, 72.7734375, -5.80078125, 0.4942339360713959 ]
3.266667
98
0
98
0
[ -9.140625, 102.83203125, 78.57421875, 78.837890625, -2.4609375, 0 ]
[ 0.263671875, 99.404296875, 86.66015625, 74.443359375, -4.921875, 0.4942339360713959 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so100",
    "total_episodes": 12,
    "total_frames": 3237,
    "total_tasks": 1,
    "total_videos": 24,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:12"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.grap": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.width": 640,
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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